Lean and steering motorcycle dynamics reconstruction: An unknown-input HOSMO approach

This paper deals with state estimation of Powered Two Wheeled vehicle (PTWV) and robust reconstruction of related unknown inputs. For this purpose, we consider a unknown-input high order Sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain´s principle. In a second time, we consider both the observation of the PTWV dynamic states, the reconstruction of the lean dynamics (roll angle φ(t)) and the rider´s torque applied on the handlebar. Finlay, several simulation cases are provided to illustrate the efficiency of the proposed observer.